{"type":"ScholarlyArticle","title":"Robotic Strategic Behavior in Adversarial Environments","authors":[{"name":"Noa Agmon","slug":"noa-agmon","given":"Noa","family":"Agmon","affiliation":"Department of Computer Science , Bar-Ilan University , Israel"}],"abstract":"The presence of robots in areas containing threats is becoming more prevalent, due to their ability to perform missions accurately, efficiently, and with little risk to humans. Having the robots handle adversarial forces in missions such as search and rescue, intelligence gathering, border protection and humanitarian assistance, raises many new, exciting research challenges. This paper describes recent research achievements in areas related to robotic mission planning in adversarial environments, including multi-robot patrolling, robotic coverage, multi-robot formation, and navigation, and suggests possible future research directions.","doi":"10.24963/ijcai.2017/731","url":"https://ijcai.org/proceedings/2017/731","pdf":"https://ijcai.org/proceedings/2017/0731.pdf","markdown":"https://ijcai.org/proceedings/2017/731.md","bibtex":"https://ijcai.org/proceedings/2017/bibtex/731","volume":{"slug":"2017","title":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2017","url":"https://ijcai.org/proceedings/2017/","year":2017,"location":"Melbourne, Australia","dates":"19-25 August 2017","editors":"Carles Sierra","isbn":"978-0-9992411-0-3","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2017"},"section":"Early Career","track":"Early Career","number":731,"pages":{"first":5106,"last":5110},"keywords":["Agent-based and Multi-agent Systems: Noncooperative Games","Robotics and Vision: Motion and Path Planning","Robotics and Vision: Robotics","Robotics and Vision: Multi-Robot Systems"],"videos":[],"references":[{"position":1,"raw":"[Agmon et al., 2008] Noa Agmon, Vladimir Sadov, Gal A Kaminka, and Sarit Kraus. The impact of adversarial knowledge on adversarial planning in perimeter patrol. In Proceedings of AAMAS, pages 55-62, 2008.","title":"The impact of adversarial knowledge on adversarial planning in perimeter patrol","authors":"Noa Agmon, Vladimir Sadov, Sarit Kaminka, Kraus","year":"2008","venue":"Proceedings of AAMAS","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Agmon et al., 2011] Noa Agmon, Gal A Kaminka, and Sarit Kraus. Multi-robot adversarial patrolling: facing a full-knowledge opponent. Journal of Artificial Intelligence Research (JAIR), pages 887-916, 2011.","title":"Multi-robot adversarial patrolling: facing a full-knowledge opponent","authors":"Noa Agmon, Sarit Kaminka, Kraus","year":"2011","venue":"Journal of Artificial Intelligence Research (JAIR)","doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[Agmon et al., 2012] Noa Agmon, Chien-Liang Fok, Yehuda Emaliah, Peter Stone, Christine Julien, and Sriram Vishwanath. On coordination in practical multi-robot patrol. In Proceedings of ICRA, pages 650-656, 2012.","title":"On coordination in practical multi-robot patrol","authors":"Chien-Liang Noa Agmon, Yehuda Fok, Peter Emaliah, Christine Stone, Sriram Julien, Vishwanath","year":"2012","venue":"Proceedings of ICRA","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[Ahmadi and Stone, 2006] Mazda Ahmadi and Peter Stone. A multi-robot system for continuous area sweeping tasks. In Proceedings ICRA, pages 1724-1729, 2006.","title":"A multi-robot system for continuous area sweeping tasks","authors":"Stone Ahmadi, Mazda Ahmadi, Peter Stone","year":"2006","venue":"Proceedings ICRA","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Al Marzouqi and Jarvis, 2011] Mohamed Al Marzouqi and Ray A Jarvis. Robotic covert path planning: A survey. In Proceedings of IEEE Conference on Robotics, Automation and Mechatronics, pages 77-82, 2011.","title":"Robotic covert path planning: A survey","authors":"Al Marzouqi, Jarvis ;, Mohamed Al Marzouqi, Ray A Jarvis","year":"2011","venue":"Proceedings of IEEE Conference on Robotics, Automation and Mechatronics","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"[Balch and Arkin, 1995] Tucker R Balch and Ronald C Arkin. Motor schema-based formation control for mul- tiagent robot teams. In Proceedings of the International Conference on Multi Agent Systems, pages 10-16, 1995.","title":"Motor schema-based formation control for multiagent robot teams","authors":"R Tucker, Ronald C Balch, Arkin","year":"1995","venue":"Proceedings of the International Conference on Multi Agent Systems","doi":null,"url":null,"internal_url":null},{"position":7,"raw":"[Chevaleyre, 2004] Yann Chevaleyre. Theoretical analysis of the multi-agent patrolling problem. In Proceedings of IAT, pages 302-308, 2004.","title":"Theoretical analysis of the multi-agent patrolling problem","authors":"Yann Chevaleyre, Chevaleyre","year":"2004","venue":"Proceedings of IAT","doi":null,"url":null,"internal_url":null},{"position":8,"raw":"[Elmaliach et al., 2009] Yehuda Elmaliach, Noa Agmon, and Gal A Kaminka. Multi-robot area patrol under fre- quency constraints. Annals of Mathematics and Artificial Intelligence, 57(3-4):293-320, 2009.","title":"Multi-robot area patrol under frequency constraints","authors":"Elmaliach","year":"2009","venue":"Annals of Mathematics and Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":9,"raw":"[Gabriely and Rimon, 2001] Yoav Gabriely and Elon Ri- mon. Spanning-tree based coverage of continuous areas by a mobile robot. Annals of Mathematics and Artificial Intelligence, 31(1-4):77-98, 2001.","title":"Yoav Gabriely and Elon Rimon. Spanning-tree based coverage of continuous areas by a mobile robot","authors":"Rimon Gabriely","year":"2001","venue":"Annals of Mathematics and Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":10,"raw":"[Galceran and Carreras, 2013] Enric Galceran and Marc Carreras. A survey on coverage path planning for robotics. Robotics and Autonomous Systems, 2013.","title":"A survey on coverage path planning for robotics","authors":"Carreras Galceran, Enric Galceran, Marc Carreras","year":"2013","venue":"Robotics and Autonomous Systems","doi":null,"url":null,"internal_url":null},{"position":11,"raw":"[Hazon and Kaminka, 2008] Noam Hazon and Gal A. Kaminka. On redundancy, efficiency, and robustness in coverage for multiple robots. Robotics and Autonomous Systems, 56(12):1102 -1114, 2008.","title":"On redundancy, efficiency, and robustness in coverage for multiple robots","authors":"Kaminka ; Hazon, Kaminka","year":"2008","venue":"Robotics and Autonomous Systems","doi":null,"url":null,"internal_url":null},{"position":12,"raw":"[Huang et al., 2011] Haomiao Huang, Jerry Ding, Wei Zhang, and Claire J Tomlin. A differential game ap- proach to planning in adversarial scenarios: A case study on capture-the-flag. In Proceedings of ICRA, pages 1451- 1456, 2011.","title":"A differential game approach to planning in adversarial scenarios: A case study on capture-the-flag","authors":"Huang","year":"2011","venue":"Proceedings of ICRA","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"[Kaminka and Glick, 2006] Gal A Kaminka and Ruti Glick. Towards robust multi-robot formations. In Proceedings of ICRA, pages 582-588, 2006.","title":"Towards robust multi-robot formations","authors":"Glick ; Kaminka, A Gal, Ruti Kaminka, Glick","year":"2006","venue":"Proceedings of ICRA","doi":null,"url":null,"internal_url":null},{"position":14,"raw":"[Keidar and Agmon, 2017] Ofri Keidar and Noa Agmon. Safety first: Strategic navigation in adversarial environ- ments (extended abstract). In Proceedings of AAMAS, pages 1581-1583, 2017. [Portugal and Rocha, 2011] David Portugal and Rui Rocha. A survey on multi-robot patrolling algorithms. In Doc- toral Conference on Computing, Electrical and Industrial Systems, pages 139-146. Springer, 2011.","title":"Safety first: Strategic navigation in adversarial environments","authors":"Agmon ; ] Ofri Keidar, Noa Keidar, Agmon","year":"2011","venue":"Doctoral Conference on Computing, Electrical and Industrial Systems","doi":null,"url":null,"internal_url":null},{"position":15,"raw":"[Shapira and Agmon, 2015] Yaniv Shapira and Noa Agmon. Path planning for optimizing survivability of multi-robot formation in adversarial environments. In Proceedings of IROS, pages 4544-4549, 2015.","title":"Path planning for optimizing survivability of multi-robot formation in adversarial environments","authors":"Agmon ; ] Yaniv Shapira, Noa Shapira, Agmon","year":"2015","venue":"Proceedings of IROS","doi":null,"url":null,"internal_url":null},{"position":16,"raw":"[Sless et al., 2014] Efrat Sless, Noa Agmon, and Sarit Kraus. Multi-robot adversarial patrolling: Facing coordinated at- tacks. In Proceedings of AAMAS, pages 1093-1100, 2014.","title":"Multi-robot adversarial patrolling: Facing coordinated attacks","authors":"Efrat Sless, Noa Agmon, Sarit Kraus","year":"2014","venue":"Proceedings of AAMAS","doi":null,"url":null,"internal_url":null},{"position":17,"raw":"[Stentz, 1994] Anthony Stentz. Optimal and efficient path planning for partially-known environments. In Proceed- ings of ICRA, pages 3310-3317, 1994.","title":"Optimal and efficient path planning for partially-known environments","authors":"Anthony Stentz","year":"1994","venue":"Proceedings of ICRA","doi":null,"url":null,"internal_url":null},{"position":18,"raw":"[Stone et al., 2000] Peter Stone, Patrick Riley, and Manuela Veloso. Defining and using ideal teammate and opponent models. In Proceedings of the Twelfth Annual Conference on Innovative Applications of Artificial Intelligence, 2000.","title":"Defining and using ideal teammate and opponent models","authors":"Stone","year":"2000","venue":"Proceedings of the Twelfth Annual Conference on Innovative Applications of Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":19,"raw":"[Talmor and Agmon, 2017] Noga Talmor and Noa Agmon. On the power and limitation of deception in multi-robot adversarial patrolling. In Proceedings of IJCAI, 2017.","title":"On the power and limitation of deception in multi-robot adversarial patrolling","authors":"Agmon ; ] Noga Talmor, Noa Talmor, Agmon","year":"2017","venue":"Proceedings of IJCAI","doi":null,"url":null,"internal_url":null},{"position":20,"raw":"[Tews et al., 2004] Ashley D Tews, Gaurav S Sukhatme, and Maja J Mataric. A multi-robot approach to stealthy nav- igation in the presence of an observer. In Proceedings of ICRA, volume 3, pages 2379-2385. IEEE, 2004.","title":"A multi-robot approach to stealthy navigation in the presence of an observer","authors":"Ashley D Tews, Maja J Gaurav S Sukhatme, Mataric","year":"2004","venue":"Proceedings of ICRA","doi":null,"url":null,"internal_url":null},{"position":21,"raw":"[Yehoshua and Agmon, 2015a] Roi Yehoshua and Noa Ag- mon. Adversarial modeling in the robotic coverage prob- lem. In Proceedings of AAMAS, pages 891-899, 2015.","title":"Roi Yehoshua and Noa Agmon. Adversarial modeling in the robotic coverage problem","authors":"Agmon Yehoshua","year":"2015","venue":"Proceedings of AAMAS","doi":null,"url":null,"internal_url":null},{"position":22,"raw":"[Yehoshua and Agmon, 2015b] Roi Yehoshua and Noa Ag- mon. Online robotic adversarial coverage. In Proceedings of IROS, pages 3830-3835, 2015.","title":"Roi Yehoshua and Noa Agmon. Online robotic adversarial coverage","authors":"Agmon Yehoshua","year":"2015","venue":"Proceedings of IROS","doi":null,"url":null,"internal_url":null},{"position":23,"raw":"[Yehoshua and Agmon, 2016] Roi Yehoshua and Noa Ag- mon. Multi-robot adversarial coverage. In Proceedings of ECAI, pages 1493-1501, 2016.","title":"Roi Yehoshua and Noa Agmon. Multi-robot adversarial coverage","authors":"Agmon Yehoshua","year":"2016","venue":"Proceedings of ECAI","doi":null,"url":null,"internal_url":null},{"position":24,"raw":"[Yehoshua et al., 2015] Roi Yehoshua, Noa Agmon, and Gal A Kaminka. Frontier-based rtdp: A new approach to solving the robotic adversarial coverage problem. In Proceedings of AAMAS, pages 861-869, 2015.","title":"Frontier-based rtdp: A new approach to solving the robotic adversarial coverage problem","authors":"Roi Yehoshua, Noa Agmon, Kaminka","year":"2015","venue":"Proceedings of AAMAS","doi":null,"url":null,"internal_url":null},{"position":25,"raw":"[Yehoshua et al., 2016] Roi Yehoshua, Noa Agmon, and Gal A Kaminka. Robotic adversarial coverage of known environments. The International Journal of Robotics Re- search (IJRR), 35(12):1419-1444, 2016.","title":"Robotic adversarial coverage of known environments","authors":"Roi Yehoshua, Noa Agmon, Kaminka","year":"2016","venue":"The International Journal of Robotics Research (IJRR)","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}